发现镜头焦距与相机姿态变化对内参影响的差异规律
Variation of Camera Parameters due to Common Physical Changes in Focal Length and Camera Pose
- 用新标定方法识别焦距变导致的主点偏移趋势
- 不同相机主点偏移方向各异，可能源于内部镜头结构差异
- 姿态变化引发的偏移趋势高度相似，或与重力方向有关
准确标定相机内参对智能系统、自动驾驶等计算机视觉应用至关重要。然而，现有标定方法难以捕捉常见物理变化下参数变化的普遍趋势。本文通过近期提出的标定方法，揭示了焦距变化引起的主要变异和姿态变化引起的次要变异。实验结果表明，不同相机类型在焦距变化时主点偏移呈现不同方向，可能源于内部镜头配置差异；而姿态变化导致的偏移趋势高度一致，很可能受重力方向影响。为验证这一全新发现的可靠性，对比了不同标定方法在3D到2D重投影误差上的表现。
原文摘要 · Abstract (English)
Accurate calibration of camera intrinsic parameters is crucial to various computer vision-based applications in the fields of intelligent systems, autonomous vehicles, etc. However, existing calibration schemes are incompetent for finding general trend of the variation of camera parameters due to common physical changes. In this paper, it is demonstrated that major and minor variations due to changes in focal length and camera pose, respectively, can be identified with a recently proposed calibration method. It is readily observable from the experimental results that the former variations have different trends (directions) of principal point deviation for different types of camera, possibly due to different internal lens configurations, while the latter have very similar trends in the deviation which is most likely due to direction of gravity. Finally, to confirm the validity of such unprecedented findings, 3D to 2D reprojection errors are compared for different methods of camera calibration.
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